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{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "imported-longer",
   "metadata": {},
   "outputs": [],
   "source": []
  },

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{
  "nbformat": 4,
  "nbformat_minor": 0,
  "metadata": {
    "colab": {
      "name": "Problem 3",
      "provenance": []
    },
    "kernelspec": {
      "name": "python3",

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{
  "nbformat": 4,
  "nbformat_minor": 0,
  "metadata": {
    "colab": {
      "name": "Problem 2",
      "provenance": []
    },
    "kernelspec": {
      "name": "python3",

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/*
Moves the end effector of a SCARA robotic arm based on the
desired x and y linear velocities. Motion is calculated using
the Jacobian matrix which relates joint velocities to end effector velocities

Note that Servo 0 = Joint 1 and Servo 1 = Joint 2
*/

// Use VarSpeedServo.h library
#include <VarSpeedServo.h>

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# Wokwi Library List
# See https://docs.wokwi.com/guides/libraries

VarSpeedServo@wokwi:33c23caf83fc8df02cd6f2219d37e36f37f0bd24

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{
  "version": 1,
  "author": "César Castro",
  "editor": "wokwi",
  "parts": [
    { "type": "wokwi-arduino-mega", "id": "mega", "top": -27.63, "left": -22.78, "attrs": {} },
    { "type": "wokwi-servo", "id": "servo1", "top": 35.17, "left": 426.3, "attrs": {} },
    { "type": "wokwi-servo", "id": "servo2", "top": -133.22, "left": 420.99, "attrs": {} }
  ],
  "connections": [

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#include <VarSpeedServo.h>

#define SERVOS 2

#define DEG_TO_RAD 0.017453292519943295769236907684886

#define RAD_TO_DEG 57.295779513082320876798154814105

VarSpeedServo myservo[SERVOS];

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#include <VarSpeedServo.h>

#define SERVOS 2

VarSpeedServo myservo[SERVOS];

const int desired_speed = 75;

int servo_pins[SERVOS] = {3,5};